SMC-C24 SMCC24 RS-232 MCB-24 MCB-50 RS-422 SMC-50

microprocessor capable of generating all required signals for high performance step motor control. Features include position

The SMC-C24 SMC-C24 is a powerful, user friendly microprocessor capable of generating all required signals for high performance step motor control. Features include position trigger, loop on port or count delays, 5 user ports, limit and home sensor inputs. SMC-C24 SMC-C24 HIGH PERFORMANCE STEP MOTOR CONTROL I.C. High level commands, via serial line editor or BUS, permit precise control. Outputs include auto power down, clock, direction and status. Inputs are available for two speed jog and trigger. Bi-directional ramping between speeds and ramp slope control is also supported. The SMC-C24 SMC-C24 has an instruction set of over 30 sophisticated motion commands. Other standard features include ASCII serial port chaining up to 60 controllers, constant velocity commands and 2k byte non-volatile memory interface. PROGRAM DISKETTE Installation and software development is simplified by using the complimentary program diskette that accompanies each AMS motion control product. Features include pull-down menus, Dumb Terminal emulation, a program editor, compiler and loader, and access to the Source Code (Microsoft TM "C"). SERIAL HOST DAISY CHAIN This mode of operation connects the SMC-C24 SMC-C24 controllers in series with a host computer using a single serial port. On reset, the host issues a command to assign each controller a unique single character "Name" to be used as a prefix to subsequent commands. The host can then obtain status and positional information at any time. Example: "Move 1000 Steps" 1. Non-daisy chained command: +1000 (CR) Carriage Return 2. Daisy chained command: A +1000 (LF) Line Feed PARTY LINE MODE Party Line protocol can be implemented in systems where non-volatile memory is available for Name storage. Each SMCC24 SMCC24 controller monitors the host and "wakes up" on receipt of a matching Name character. Party Line mode is invoked by simply supplying a low to pin 13 of the controller. This protocol greatly reduces communication time and can support over 60 axes of motion, connected in parallel, from a single serial port. www.stepcontrol.com SINGLE STEP Instructions may be entered with a "Single Instruction Execute on Strobe" attribute. Instructions having this attribute are delayed until a low is asserted on port 1. This feature is valuable when implementing a master/slave type system. TRIP POINT The trip point is a programmable position that allows predefined operations to be triggered when the motor position matches the established trip point position. During motion the position counter is continuously updated and compared to the programmed trip position. RESET Upon hardware reset all parameters are initialized to factory set default values. If non-volatile memory is present, the parameters most recently saved are downloaded into the working registers of the SMC-C24 SMC-C24. Both Jog and Go inputs are then active. During reset all inputs and outputs are at a high state. The communication mode is set per levels present at Baud 1, Baud 2, and Baud 3. NON-VOLATILE MEMORY The SMC-C24 SMC-C24 provides a 2k byte nonvolatile memory interface to store user programs for future execution. Any number of programs may coexist, limited only by the available memory space. By implementing NV memory, all parameters, such as initial velocity, ramp, full/ half step, etc., may be set as defaults or changed "on the fly" during program execution. SMC-C24 SMC-C24 FEATURES · Absolute or relative position commands · Bi-directional ramping between speeds · 5 general purpose input/output ports · Speeds to 23,000 steps per second · Speed alterable "on the fly" · Soft decelerate stop command · Motion output signal · Receive/send commands while moving · Position register of over 16M steps · Programmable enable signal polarity · "Home" function at any step rate · Read position counter while moving · Limit and home switch inputs · 2k non-volatile memory interface · 300 to 480k Baud selectable · Programmable trip point · Selectable "Party Line" serial mode · Programmable limit switch polarity · 16-way branch inputs · Simple, friendly bus interface TERMINAL INTERFACE By using a simple RS-232 RS-232 buffer, a motion sequence can be programmed from a standard terminal or host PC. Command lines consist of an ASCII character followed by a number. The input line editor provides a user friendly interface. 2 Townsend West, Nashua, NH 03063-1277 603-882-1447 FAX 603-881-7600 BUS INTERFACE The SMC-C24 SMC-C24 controller is designed with a microcomputer interface in mind. A simple bus interface that includes address decoding, data buffering and handshake (for multiple axes of control) can be configured by implemented a few additional components. The binary command length is variable, depending on the specific command. Commands in bus mode are entered as a binary sequence, as follows: Low Mid High Command Byte Byte Byte 4 Byte 17h E8h 03h 00h (Move +1000 steps) 2 Byte 05h 00h (Disable motor current) 2 Byte 05h 01h (Enable motor current) SIGNED NUMBERS The SMC-C24 SMC-C24 uses "Signed Numbers" in conjunction with the "R" (Relative Move), "T" (Trip Output), "O" (Set Origin), and "Z" (Display Location) commands. In ASCII communication mode, negative numbers have "-" character preceding them. The data is processed internally in complementary binary. In certain commands, plus (+) 0 and minus (-) 0 are used to perform different operations. In binary format (bus mode) the input is magnitude and sign, or 2's complement binary. SMC-C24 SMC-C24 PIN CONFIGURATION MOTOR POWER RS-232 RS-232 OR 422 NV RAM XTAL PH0 VCC PH1 BAUD1 PH2 BAUD2 PH3 BAUD3 STEP OUT GO HOME SOFT STOP LIMIT A JOG 1 LIMIT B JOG 2 RST JOG HS RXD VCC TXD N/C STPIN N/C PARTY DIR OUT DIR IN PORT 6 MVG EN OUT SDA PORT 5 SCL PORT 4 X2 PORT 3 X1 PORT 2 PORT 1 GND BAUD JOG SWITCH USER PORTS MCB-24 MCB-24 MOTOR CONTROL BOARD The MCB-24 MCB-24 combines the high performance SMC-C24 SMC-C24 and all required components on a small (2" x 4") circuit board to form a complete, single axis, intelligent motor control subassembly. It includes extensive buffering, optical isolation and differential serial interface for high reliability in industrial environments. For high speed applications the MCB-50 MCB-50 (50k SPS) is also available. FEATURES · Stand-alone or host operation · 2k non-volatile memory · Buffered inputs and outputs · Dual speed Jog inputs · RS-232 RS-232 or RS-422 RS-422 Party Line · · · · · Optically isolated home/limits Five user definable I/O ports Modular connectors Go and Soft Stop inputs 5 Volt operation As a low-cost OEM motor control board, the MCB-24 MCB-24 integrates quickly into new or retrofit product designs. On-board non-volatile memory allows application sequences of high level hardware, or keyboard "Go" commands. Commands issued via the line editor permit precise control with position trigger, loop on ports or count delays, 5 separate user ports and home routines. SUMMARY OF COMMANDS ASCII ESC A B C D E F G H I J K L M O P Q R S T V W X Y Z @ + [ \ ] ^ Data Range 0-129 0-255, 0-255 0-8 0-255 0-15 0/1, ±0-23,000 0-2,048, 0/1 0/1/3 14-23,000 0-2,047, 0-255 0-255 0-2048, 0-9 ±14-23,000 ±0-8,388,607 0-2,047 0-2,047 ±0-8,388,607 ±0-8,388,607 14-23,000 0-65, 535 0-100, 0-100 0/1 0-16,777,215 0-16,777,215 0-2,047 0-2,047 SPECIFICATIONS D.C. Characteristics: Description Icc: Supply current Vcc: Logic power Vil: Input low voltage IiI: Input low current Vih: Input high voltage Vol: Output low voltage Voh: Output high voltage Description Abort/Terminate Port Set/Increment/Read Jog Speed: Slow, Fast Restore, Clear Page Divide Factor (SMC-C24 SMC-C24 only) Enable, Limit Sense Find Home: Sense Speed Go (Address/Branch), Trace Full/Half/Quarter Step Initial Velocity-SPS Jump To Address, Repetition Ramp Slope Loop On Port Condition Constant Velocity-SPS Set Origin Program Mode Query Program Relative Move Store Parameters Set Trip Point Slew Velocity-SPS Wait n Milliseconds Examine Parameters Set Hold/Run Current Read Position Once/Repeat Soft Stop + Step Command - Step Command Read Non-Volatile Memory Write To Non-Volatile Memory Query Hardware Status Query Motion Status Condition Vil= 0.45V Iol= 1.6ma Ioh= -80µa A.C. Characteristics: Spl: Step clock output low Swl: Limit and home switch response Non-Volatile Memory Access: Fetch and execute cycle Loop Save parameters Store Min 5.0 4.5 -.05 Max 50.0 5.5 0.8 -800.0 2.0 Vcc+0.5 0.45 2.4 5.0 2.0 Typical 1.7 63 #Bus Bytes 1 2 3 2 2 2 3 3 3 3 4 2 4 3 4 3 0 4 1 4 3 3 0 3 2 1 4 4 3 3 1 1 Unit Ma V V µa V V V 7.5 µs Step clocks Ms Ms Clock Frequency in MHz vs. Maximum Step Rate: Model# Min Max Serial SMC-C24 SMC-C24 1.2 (1.84k SPS) 14.7456 (23k SPS) 14.7456 (23k SPS) SMC-50 SMC-50 1.2 (1.84k SPS) 29.4912 (50k SPS) 29.4912 (50k SPS) Applications using a bus interface may use all clock rates within the operating range. All speeds must be appropriately scaled. Physical Characteristics: 40 Pin, 0.6" wide, plastic dip. 0-70 degrees C operating temperature. Also available in PLCC or QFP packages. ADVANCED MICRO SYSTEMS, INC. reserves the right to make improvements and changes in specifications, prices or availability at any time without prior notification. 0900